tactile_tasks/run_collection.py

#!/usr/bin/env python3
"""
Batch data collection for tactile manipulation tasks.

Collects episodes with randomized object placements, saves per-episode HDF5 files,
and generates per-episode MP4 videos with tactile overlays.

File structure:
    tactile_data/
        precision_grasp/
            episode_00.hdf5
            episode_01.hdf5
            ...
        peg_insertion/
            episode_00.hdf5
            ...
        gentle_stack/
            episode_00.hdf5
            ...
        videos/
            precision_grasp/
                precision_grasp_ep00.mp4
                ...

Usage:
    # Collect all tasks, 50 episodes each
    python tactile_tasks/run_collection.py --n_episodes 50

    # Collect single task
    python tactile_tasks/run_collection.py --task peg_insertion --n_episodes 50

    # With visualization window (slower)
    python tactile_tasks/run_collection.py --task gentle_stack --n_episodes 10 --visualize

    # Custom output directory
    python tactile_tasks/run_collection.py --save_dir ./my_data --n_episodes 20

    # Skip video generation (faster)
    python tactile_tasks/run_collection.py --n_episodes 50 --no_video
"""

import os
import sys
import argparse
import time

sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(__file__))))

from tactile_tasks.collect_data import collect_task_data, TASK_CONFIGS
from tactile_tasks.visualize_data import generate_video


def generate_all_episode_videos(task_dir, n_episodes, video_dir, task_name):
    """Generate videos for all episodes in a task directory."""
    os.makedirs(video_dir, exist_ok=True)
    for ep_idx in range(n_episodes):
        data_file = os.path.join(task_dir, f"episode_{ep_idx:02d}.hdf5")
        video_path = os.path.join(video_dir, f"{task_name}_ep{ep_idx:02d}.mp4")
        if os.path.exists(video_path):
            continue  # skip already generated
        if not os.path.exists(data_file):
            print(f"  Warning: {data_file} not found, skipping video")
            continue
        try:
            generate_video(data_file, output_path=video_path)
        except Exception as e:
            print(f"  Warning: video for episode {ep_idx} failed: {e}")


def main():
    parser = argparse.ArgumentParser(description="Collect tactile manipulation data")
    parser.add_argument("--task", type=str, default="all",
                        choices=list(TASK_CONFIGS.keys()) + ["all"],
                        help="Task to collect (default: all)")
    parser.add_argument("--n_episodes", type=int, default=50,
                        help="Number of episodes per task (default: 50)")
    parser.add_argument("--save_dir", type=str, default="./tactile_data",
                        help="Output directory (default: ./tactile_data)")
    parser.add_argument("--visualize", action="store_true",
                        help="Show renderer window during collection")
    parser.add_argument("--no_video", action="store_true",
                        help="Skip video generation")
    args = parser.parse_args()

    tasks = list(TASK_CONFIGS.keys()) if args.task == "all" else [args.task]
    total_start = time.time()

    for task in tasks:
        print(f"\n{'='*60}")
        print(f"  Collecting: {task} | {args.n_episodes} episodes")
        print(f"{'='*60}")

        t0 = time.time()
        task_dir = collect_task_data(
            task,
            n_episodes=args.n_episodes,
            save_dir=args.save_dir,
            visualize=args.visualize,
        )
        elapsed = time.time() - t0
        print(f"  Collection time: {elapsed:.0f}s ({elapsed/args.n_episodes:.1f}s/ep)")

        if not args.no_video:
            print(f"\n  Generating videos...")
            video_dir = os.path.join(args.save_dir, "videos", task)
            generate_all_episode_videos(task_dir, args.n_episodes, video_dir, task)
            print(f"  Videos saved to: {video_dir}/")

    total_elapsed = time.time() - total_start
    print(f"\n{'='*60}")
    print(f"  Done! Total time: {total_elapsed:.0f}s")
    print(f"  Data saved to: {args.save_dir}/")
    print(f"{'='*60}")


if __name__ == "__main__":
    main()